Browsing by Author "Alempijevic Alen"

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Browsing by Author "Alempijevic Alen"

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  • Cross-Modal Localization Through Mutual Information 
    Alempijevic Alen; Dissanayake Gamini; Kodagoda Sarath (IEEE, 2009)
    Relating information originating from disparate sensors observing a given scene is a challenging task, particularly when an appropriate model of the environment or the behaviour of any particular object within it is not ...
  • An Efficient Algorithm for Line Extraction from Laser Scans 
    Alempijevic Alen; Dissanayake Gamini (The Institute of Electrical and Electronic Engineers Inc (IEEE), 2004)
    In this paper, an algorithm for extracting line segments from information gathered by a laser rangefinder is presented. The range scan is processed to compute a parameter that is invariant to the position and orientation ...
  • Efficient Lane Detection and Tracking in Urban Environments 
    Sehestedt Stephan; Kodagoda Sarath; Alempijevic Alen; Dissanayake Gamini (European Conference on Mobile Robots, 2007)
    Lane detection in urban environments is a challenging task. That is mainly due to the non existence of unique models, poor quality of lane markings due to wear, occlusions due to the presence of traffic and complex road ...
  • Efficient Learning of Motion Patterns for Robots 
    Sehestedt Stephan; Kodagoda Sarath; Alempijevic Alen; Dissanayake Gamini (Australian Robotics and Automation Association Inc., 2009)
    In this work we present a novel approach to learning dynamics of an environment perceived by a mobile robot. More precisely, we are interested in general motion patterns occurring in the environment rather than object ...
  • Empirical Evaluation of an Autonomous Vehicle in an Urban Environment 
    Upcroft Ben; Makarenko Alexei; Brooks Alex; Moser Michael; Alempijevic Alen; Donikian Ashod; Sprinkle Jonathan; Uther William; Fitch Robert (Springer-Verlag Berlin Heidelberg, 2011)
    Experience from the DARPA Urban Challenge provides details of the types of systems, software and processes that were used to develop the complex unmanned vehicles that participated in the DARPA Urban Challenge. The vehicle ...
  • Empirical Evaluation of an Autonomous Vehicle in an Urban Environment 
    Makarenko Alexei; Upcroft Ben; Moser Michael; Alempijevic Alen; Donikian Ashod; Uther William; Fitch Robert (American Institute of Aeronautics and Astronautics (AIAA), 2007)
    Operation in urban environments creates unique challenges for research in autonomous ground vehicles. Due to the presence of tall trees and buildings in close proximity to traversable areas, GPS outage is likely to be ...
  • High-Speed Feature Extraction in Sensor Coordinates for Laser Rangefinders 
    Alempijevic Alen (ARAA (Australian Robotics & Automation Association), 2004)
    The main contributions of this paper are two algorithms for extracting lines and comers present in the environment from information gathered by a laser rangefinder. The laser range scan is processed in its natural ...
  • Learning Navigational Maps by Observing Human Motion Patterns 
    O'Callaghan Simon; Singh Surya; Alempijevic Alen; Ramos Fabio (IEEE, 2011)
    Abstract¿Observing human motion patterns is informative for social robots that share the environment with people. This paper presents a methodology to allow a robot to navigate in a complex environment by observing pedestrian ...
  • Mutual Information Based Data Association 
    Alempijevic Alen; Kodagoda Sarath; Dissanayake Gamini (IEEE, 2009)
    Relating information originating from disparate sensors without any attempt to model the environment or the behaviour of any particular object within it is a challenging task. Inspired by human perception, the focus of ...
  • Mutual Information Based Sensor Registration and Calibration 
    Kodagoda Sarath; Underwood James; Alempijevic Alen; Kumar Suresh; Dissanayake Gamini (The Institute of Electrical and Electronic Engineers Inc (IEEE), 2006)
    Knowledge of calibration, that defines the location of sensors relative to each other, and registration, that relates sensor response due to the same physical phenomena, are essential in order to be able to fuse information ...
  • Nonverbal Robot-Group Interaction Using an Imitated Gaze Cue 
    Kirchner Nathan; Alempijevic Alen; Dissanayake Gamini (ACM, 2011)
    Ensuring that a particular and unsuspecting member of a group is the recipient of a salient-item hand-over is a complicated interaction. The robot must effectively, expediently and reliably communicate its intentions to ...
  • RobotAssist - a Platform for Human Robot Interaction Research 
    Kirchner Nathan; Alempijevic Alen; Caraian Sonja; Fitch Robert; Hordern Daniel; Hu Gibson; Paul Gavin; Richards David; Singh Surya; Webb Stephen (Australasian Conference on Robotics and Automation, 2010)
    This paper presents RobotAssist, a robotic platform designed for use in human robot interaction research and for entry into Robocup@Home competition. The core autonomy of the system is implemented as a component based ...
  • Robust Lane Detection in Urban Environments 
    Sehestedt Stephan; Kodagoda Sarath; Alempijevic Alen; Dissanayake Gamini (The Institute of Electrical and Electronic Engineers Inc (IEEE), 2007)
    Most of the lane marking detection algorithms reported in the literature are suitable for highway scenarios. This paper presents a novel clustered particle filter based approach to lane detection, which is suitable for ...
  • Sensor Registration and Calibration Using Moving Targets 
    Alempijevic Alen; Underwood James; Kodagoda Sarath; Kumar Suresh; Dissanayake Gamini (The Institute of Electrical and Electronic Engineers Inc (IEEE), 2006)
    Multimodal sensor registration and calibration are crucially important aspects in distributed sensor fusion. Unknown relationships of sensors and joint probability distribution between sensory signals make the sensor ...
  • Sensor Registration for Robotic Applications 
    Alempijevic Alen; Dissanayake Gamini; Kodagoda Sarath (Springer, 2008)
    Multi-sensor data fusion plays an essential role in most robotic applications. Appropriate registration of information from different sensors is a fundamental requirement in multi-sensor data fusion. Registration requires ...
  • Towards an Enhanced Driver Situation Awareness System 
    Alempijevic Alen; Zhang Zhengzhi; Kodagoda Sarath; Donikian Ashod; Dissanayake Gamini; Sehestedt Stephan (The Institute of Electrical and Electronic Engineers Inc (IEEE), 2007)
    This paper outlines our current research agenda to achieve enhanced driver situation awareness. A novel approach that incorporates information gathered from sensors mounted on the neighboring vehicles, in the ...
  • Towards Improving Driver Situation Awareness at Intersections 
    Kodagoda Sarath; Alempijevic Alen; Sehestedt Stephan; Dissanayake Gamini (The Institute of Electrical and Electronic Engineers Inc (IEEE), 2007)
    Providing safety critical information to the driver is vital in reducing road accidents, especially at intersections. Intersections are complex to deal with due to the presence of large number of vehicle and pedestrian ...